data_collection_server.py

What is this?

Save topics with synchronization by std_srvs/Trigger message as {SAVE_DIR}/{TIMESTAMP}/{FILENAME}.

Parameters

• ~save_dir (String, Default: ~/.ros)

  Save directory.

• topics (Required)

  This param should look like below:

topics:
  - name: /camera/rgb/image_raw
    msg_class: sensor_msgs/Image
    fname: image.png
    savetype: ColorImage
  - name: /camera/depth/image_raw
    msg_class: sensor_msgs/Image
    fname: depth.pkl
    savetype: DepthImage

Currently, the supported save type is:

• ColorImage
• DepthImage
• LabelImage
• YAML

• params (Optional)

  This param should look like below:

params:
  - key: /in_hand_data_collection_main/object
    fname: label.txt
    savetype: Text

Currently, the supported save type is:

• Text
• YAML

• method (String, Default: request)

  • request: Save data when service is called.
  • timer: Save data when start service is called. Finish collecting when end service is called.
  • all: Always save data.

• message_filters: (Bool, Default: False)

  Subscribe topics with message_filters.

• approximate_sync: (Bool, Default: False)

  Subscribe topic with ApproximateTimeSynchronizer in message_filters.

• queue_size: (Int, Default: 10)

  Queue size of message_filters.

• slop: (Float, Default 0.1)

  Slop of ApproximateTimeSynchronizer in message_filters.

• timestamp_save_dir: (Bool, Default: True)

  Save data in timestamped dir.

  If you set this as False, data will be saved as {SAVE_DIR}/{FILENAME}.

Services

• ~save_request (std_srvs/Trigger)

  Save data when method is request.

• ~start_request (std_srvs/Trigger)

  Start saving data when method is timer.

• ~end_request (std_srvs/Trigger)

  Finish saving data when method is timer.